CN104703143A - Indoor positioning method based on WIFI signal strength - Google Patents
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Abstract
The invention provides an indoor positioning method based on WIFI signal strength; the specific process is as follows: choosing a plurality of sampling points in an indoor environment, acquiring strength information of WIFI signals at the sampling points, thereby obtaining a position fingerprint database; acquiring the strength information of a WIFI signal at a to-be-positioned point, pre-matching the strength information of the WIFI signal at the to-be-positioned point and the position fingerprint database, thereby obtaining candidate position fingerprints; utilizing a certainty matching method and choosing the weighted average of position information of Kd position fingerprints having shortest improved Euclid distances with the to-be-positioned point from the candidate position fingerprints as the position (X1, Y1) of the to-be-positioned point; utilizing a probabilistic matching method and choosing the weighted average of position information of Kp position fingerprints having a maximum joint probability with the to-be-positioned point from the candidate position fingerprints as the position (X2, Y2) of the to-be-positioned point; and calculating the to-be-positioned point according to the position (X1, Y1) and the position (X2, Y2) of the to-be-positioned point. By adopting an improved Euclid distance calculation method, the influence of WIFI signal fluctuation on positioning results is reduced and the positioning precision is improved.
Description
Technical Field
The invention relates to an indoor positioning method, in particular to an indoor positioning method based on WIFI signal strength, and belongs to the technical field of positioning and navigation.
Background
With the rapid development of the mobile internet, the demand of the location-based service is continuously expanding, and the basis and the key of the location-based service are the positioning technology. The development of the outdoor positioning technology is more perfect, and the positioning precision can meet the requirement by a satellite-based positioning technology and a base station-based positioning technology. The implementation of indoor positioning technology relies on existing wireless communication technology. As a wireless communication technology, the WIFI technology has become an important research direction for developing an indoor positioning technology due to its advantages of low equipment cost, simple layout, fast communication speed, low transmission power, and no need of adding additional hardware. The indoor positioning method based on the WIFI technology mainly comprises three steps: a positioning method based on a proximity relation, a positioning method based on a triangular relation and a positioning method based on scene analysis.
(1) Positioning method based on proximity relation
And when the mobile terminal of the point to be positioned receives one or more WIFI hotspot signals with known positions, the position of the WIFI hotspot with the maximum signal strength is regarded as the position of the point to be positioned. The accuracy of this positioning method depends on the density and signal range of WIFI hotspots.
(2) Positioning method based on triangular relation
The positioning method based on the triangular relation determines the position of a point to be positioned according to the geometric properties of a triangle, when a mobile terminal of the point to be positioned receives one or more WIFI hotspot signals with known positions, the position of the point to be positioned can be calculated by three or more WIFI hotspots with known positions by measuring the arrival angles or propagation distances of the signals. According to different measurement methods, the method can be subdivided into an angle-based triangulation method and a distance-based triangulation method, and the distance-based triangulation method can be subdivided into a propagation time method and a propagation model method. The biggest disadvantage of the positioning method based on the triangular relation is that the position of the WIFI hotspot needs to be predicted in advance.
(3) Positioning method based on scene analysis
The positioning method based on scene analysis is to abstract and formalize the known indoor positioning environment, describe discrete known positions in the indoor positioning environment by using a plurality of concrete and quantized position features, and integrate the features of the known positions together to generate a position feature library. And during positioning, inquiring a position feature library according to the position features of the to-be-positioned points, adopting a specific matching rule, and estimating the position of the to-be-positioned point by using the known WIFI hotspot position. The location fingerprint positioning method is a typical positioning method based on scene analysis, and is mainly divided into two stages: an offline phase and an online phase. In the off-line stage, according to a known indoor positioning environment, a plurality of sampling points are determined according to a certain interval distance to form a grid of the sampling points, and data tuples are formed by adding the signal intensity information acquired by each sampling point and the position information (relative or absolute position) of the sampling point, wherein the data tuples are called position fingerprints. In the on-line stage, the signal intensity information measured by the point to be positioned is matched with the signal intensity information in the position fingerprint database according to a certain rule, one or a plurality of position fingerprints which are similar to the signal intensity information of the point to be positioned are found, and finally the position information of the point to be positioned is estimated by using the position information of the position fingerprints. The signal strength information mainly includes two parts: signal strength characteristic values and corresponding identifications of WIFI hotspots (generally, physical addresses of WIFI hotspots are used as identifications). According to different signal intensity characteristic values selected during matching, matching methods of the to-be-positioned point and the position fingerprint are divided into a deterministic matching method and a probabilistic matching method. The signal intensity characteristic selected by the deterministic matching method is an average value of signal intensity after smooth denoising processing in a certain sampling time, the matching rule is to compare the Euclidean distance between a to-be-positioned point and a position fingerprint, and the position information of the position fingerprint with the nearest Euclidean distance is taken as the position of the to-be-positioned point or the average value of the position information of K position fingerprints with the nearest Euclidean distance is taken as the position of the to-be-positioned point. The signal intensity characteristic value selected by the probabilistic matching method is an average value and a standard deviation of signal intensity which is not processed in a certain sampling time, the matching rule is to compare the joint probability of the to-be-positioned point and the position fingerprint, and the position information of the position fingerprint with the maximum joint probability is taken as the position of the to-be-positioned point or the average value of the position information of K position fingerprints with the maximum joint probability is taken as the position of the to-be-positioned point. The position fingerprint positioning method has the advantages that the WIFI hotspot position does not need to be predicted in advance, and the positioning precision is high, so that the method is a main research direction of indoor positioning methods based on the WIFI technology.
The existing position fingerprint positioning method has the following defects:
the huge position fingerprint database leads to overlong matching time.
Secondly, the influence of the traditional deterministic matching method with the Euclidean distance as the matching standard on the WIFI signal fluctuation is not considered enough.
The probabilistic matching method using the joint probability as the matching standard has obvious advantages in overcoming the influence of WIFI signal fluctuation, but the positioning result is mainly determined by a certain position fingerprint with the maximum joint probability value, and the method of taking the weighted average value of K position fingerprints as the positioning result is not applicable.
Disclosure of Invention
In view of the above, an object of the present invention is to provide an indoor positioning method based on WIFI signal strength, which can achieve accurate indoor positioning.
The technical scheme for realizing the invention is as follows:
an indoor positioning method based on WIFI signal strength comprises the following specific processes:
selecting a plurality of sampling points in an indoor environment, collecting intensity information of WIFI signals at the sampling points, and forming a position fingerprint by the intensity information and the position information of the sampling points to obtain a position fingerprint database;
secondly, collecting intensity information of a WIFI signal of a point to be positioned, and pre-matching the intensity information of the WIFI signal of the point to be positioned with a position fingerprint database to obtain a candidate position fingerprint;
step three, adopting certaintyMatching method, selecting K nearest to improved Euclidean distance of point to be located from candidate position fingerprintsdThe weighted average of the position information of a position fingerprint is used as the position (X) of the point to be located1,Y1) (ii) a Adopting a probabilistic matching method to take K with the maximum joint probability with the point to be positioned in the candidate position fingerprintspThe weighted average of the position information of a position fingerprint is used as the position (X) of the point to be located2,Y2)；
Assuming that the locating point to be located can receive n WIFI hotspot signals, m candidate position fingerprints exist after pre-matching, the definition of the improved Euclidean distance is as formula (1),
wherein, i is 1,2, 1, m, k is 1,2, 1, n, diRepresenting the modified Euclidean distance between the to-be-located point and the ith candidate position fingerprint, DEV representing the original standard deviation of the signal strength of the to-be-located point, DEViRepresenting the raw standard deviation, PAVG, of the signal strength of the ith candidate location fingerprintkIndicates pendingProcessing average, PAVG, of signal strength of kth WIFI hotspot received by the siteikThe processing average value of the signal strength of the kth WIFI hotspot received by the ith candidate position fingerprint is represented;
step four, according to the position (X) of the point to be positioned1,Y1) And (X)2,Y2) And calculating a to-be-positioned point.
Furthermore, the position fingerprint corresponding to the sampling point in the present invention is represented by AP ═ ID (MAC, AVG, PAVG, DEV), where ID represents the identifier of the sampling point, MAC represents the physical address of the WIFI hotspot, AVG represents the raw average of the signal strength, PAVG represents the processed average of the signal strength, and DEV represents the raw standard deviation of the signal strength.
Further, the pre-matching of the present invention is: firstly, finding out MAC (media access control) in a to-be-positioned point under the condition that PAVG > FLAG, wherein FLAG is a preset signal intensity threshold value; then, in the location fingerprint library, the location fingerprint containing the found MAC is selected and used as a candidate location fingerprint.
Furthermore, the definition of the joint probability of the present invention is shown as formula (3),
Pi＝Pi1·Pi2·...·Pik·...·Pin (3)
wherein, PiRepresenting the joint probability, P, of a point to be located and the ith candidate location fingerprintikThe independent probability of the signal strength of the kth WIFI hotspot received by the ith candidate position fingerprint is represented, and the calculation method comprises the following steps:
for the normal distribution formula (4),
let mu be AVGik，σ＝DEVikWherein AVGikAnd DEVikThe original mean value and the original standard deviation of the signal strength of the kth WIFI hotspot received by the ith candidate position fingerprint are shown, and x is set as AVGi，AVGiRepresenting the original average value of the signal intensity of the point to be positioned, and calculating to obtain Pik。
Further, the specific process of the fourth step of the invention is as follows:
first, K is calculateddVariance D of the nearest Euclidean distance1And KpVariance D of maximum joint probability logarithm value2；
Then, a final positioning result is calculated
Advantageous effects
Compared with the prior art, the method provided by the invention has the following advantages:
the invention provides a pre-matching mechanism before the sampling points and the position fingerprints are calculated and matched, so that the number of candidate position fingerprints is effectively reduced, and the matching time is shortened.
Secondly, the signal intensity standard deviation is introduced, the calculation method of the Euclidean distance in the deterministic matching method is improved, the influence of WIFI signal fluctuation on the positioning result is reduced, and the positioning precision is improved.
Thirdly, the invention introduces the joint probability logarithm value, adjusts the weighted average weight in the probabilistic matching method and improves the positioning precision.
Fourthly, the invention adopts a linear fusion mode, fuses intermediate positioning results respectively obtained by a deterministic matching method and a probabilistic matching method, and further improves the positioning precision.
Drawings
Fig. 1 is a flowchart of an indoor positioning method based on WIFI signal strength according to the present invention.
Fig. 2 is a structural diagram of a floor to be located according to the embodiment.
Fig. 3 is a schematic diagram illustrating the meshing of floors according to the present embodiment.
Detailed Description
The technical solution of the present invention is described in detail below with reference to specific examples, but the embodiments of the present invention are not limited thereto.
As shown in fig. 1, the indoor positioning method based on WIFI signal strength of the present invention specifically includes the following steps:
the method comprises the following steps: selecting a plurality of sampling points in an indoor environment, collecting intensity information of WIFI signals at the sampling points, and forming a position fingerprint by the intensity information and the position information of the sampling points to obtain a position fingerprint database; the method comprises the following steps:
(1) construction of an indoor structural distribution diagram of a sampling point:
for a known indoor positioning environment, considering that the influence of WIFI signals between actual floors is small, two-dimensional modeling is carried out on the positioning environment; and performing grid division on the modeled indoor positioning environment according to a certain spacing distance, wherein the size of the grid division depends on the requirements of an actual scene and the capacity of a position fingerprint database. And establishing a coordinate system according to actual conditions, and taking the relative position of each grid as the position coordinate of the sampling point to obtain a series of discrete sampling point positions. The position information of the sampling point may be represented by a triplet SP ═ (ID, X, Y). Where ID represents the identity of the sample point and X, Y represents the location coordinates of the sample point.
(2) Collecting sampling point signal intensity information:
according to the formed indoor structure distribution diagram of the sampling points, the mobile device is used for collecting WIFI signals for multiple times at the corresponding sampling point positions in the actual environment to be positioned, signals of a plurality of WIFI hot spots can be collected at each sampling point, and the collected frequency is determined according to the scanning frequency of the WIFI signal collection module of the mobile device.
(3) And (3) the position fingerprint library is composed of:
after the acquisition process is finished, calculating the average value and the standard deviation of the unprocessed original signal intensity, and calling the average value and the standard deviation as the original average value and the original standard deviation, removing gross errors by using a t-test method and removing random errors by using a median average filtering method, obtaining the processed signal intensity, and calculating the average value, and calling the average value as the processed average value. The WIFI hotspot signal corresponding to the sampling point may be represented by a five-tuple AP ═ (ID, MAC, AVG, PAVG, DEV), where ID represents an identifier of the sampling point, corresponding to the sampling point identifier in (1), MAC represents a physical address of the WIFI hotspot, AVG represents a raw average of the signal strength, PAVG represents a processed average of the signal strength, and DEV represents a raw standard deviation of the signal strength. Multiple WIFI hotspot signals can be collected at one sampling point, so that multiple quintuple APs are used for signal intensity information of one sampling pointk＝(ID,MACk,AVGk,PAVGk,DEVk) And (k — 1,2, …, n), where n indicates that n WIFI hotspot signals can be received at the sampling point. And then, the position information of the sampling points in the step (1) and the signal intensity information of the sampling points in the step (2) are added to form a position fingerprint database.
Secondly, collecting intensity information of a WIFI signal of a point to be positioned, and pre-matching the intensity information of the WIFI signal of the point to be positioned with a position fingerprint database to obtain a candidate position fingerprint; the specific process is as follows:
step 1: and (3) acquiring WIFI signals for multiple times by using a mobile device at the position of the to-be-positioned point in the actual to-be-positioned environment, wherein the acquisition method is the same as the step (2).
Step 2: and (4) after the acquisition process is finished, calculating to obtain an original average value, an original standard deviation and a processed average value, wherein the processing and calculating methods are the same as the step (3) in the step one. Multiple seven-tuple XAP for signal strength information of point to be positionedk＝(ID,X,Y,MACk,AVGk,PAVGk,DEVk) (k ═ 1,2, …, n), where ID denotes the identity of the point to be located, X, Y denotes the position coordinates of the point to be located, MACkPhysical address, AVG, representing the kth WIFI hotspot received by the point to be locatedkRepresenting the original average value PAVG of the signal intensity of the kth WIFI hotspot received by the to-be-positioned pointkThe DEV represents the processing average value of the signal strength of the kth WIFI hotspot received by the locating pointkAnd n represents the total number of the WIFI hotspot signals received by the point to be positioned.
And 3, step 3: since the location fingerprint library is very large, a pre-match is performed before matching of the sampling points with the location fingerprints. The pre-matching method comprises the following steps: 1. and finding out MAC of PAVG > FLAG in the signal strength information of the to-be-positioned point, wherein FLAG is a preset signal strength threshold value and is used for distinguishing stronger WIFI hotspot signals and weaker WIFI hotspot signals in the signal strength information. 2. And selecting the position fingerprint containing the MAC in the signal strength information in the position fingerprint database as a candidate position fingerprint.
Thirdly, selecting a weighted average value of the position information of the K position fingerprints closest to the improved Euclidean distance of the point to be positioned from the candidate position fingerprints as the position (X) of the point to be positioned by adopting a deterministic matching method1,Y1)；
Assuming that the locating point to be located can receive n WIFI hotspot signals, m candidate position fingerprints exist after pre-matching, the definition of the improved Euclidean distance is as formula (1),
wherein, i is 1,2, 1, m, k is 1,2, 1, n, diRepresenting the modified Euclidean distance between the to-be-located point and the ith candidate position fingerprint, DEV representing the original standard deviation of the signal strength of the to-be-located point, DEViRepresenting the raw standard deviation, PAVG, of the signal strength of the ith candidate location fingerprintkRepresenting the processing average value PAVG of the signal intensity of the kth WIFI hotspot received by the to-be-positioned pointikThe processing average value of the signal strength of the kth WIFI hotspot received by the ith candidate position fingerprint is represented;
get diMinimum KdWeighted average of the positions of the position fingerprints as the first intermediate result (X)1,Y1) The calculation formula is shown in formula (2).
Wherein, ω isiIs the smallest KdThe weight corresponding to the ith position fingerprint in the position fingerprints, omega in actual operationiGenerally 1/di，(Xi,Yi) Is KdThe position information corresponding to the ith position fingerprint.
Using a probabilistic matching method, taking the weighted average of the position information of the K position fingerprints with the maximum joint probability with the point to be positioned as the position (X) of the point to be positioned in the candidate position fingerprints2,Y2)。
The joint probability is defined as shown in equation (3),
Pi＝Pi1·Pi2·...·Pik·...·Pin(3) wherein, PiRepresenting the joint probability, P, of a point to be located and the ith candidate location fingerprintikThe independent probability of the signal strength of the kth WIFI hotspot received by the ith candidate position fingerprint is represented, and the calculation method comprises the following steps:
for the normal distribution formula (4),
let mu be AVGik，σ＝DEVikWherein AVGikAnd DEVikThe original mean value and the original standard deviation of the signal strength of the kth WIFI hotspot received by the ith candidate position fingerprint are shown, and x is set as AVGi，AVGiRepresenting the original average value of the signal intensity of the point to be positioned, and calculating to obtain Pik。
Get PiMaximum KpWeighted average of the positions of the position fingerprints as a second intermediate result (X)2,Y2) The calculation formula is shown in formula (5).
Wherein, ω isjIs the maximum KpThe weight corresponding to the jth position fingerprint in the position fingerprints, omega in actual operationjGeneral joint probability value PjHowever, the difference of the joint probability values is generally over 10 orders of magnitude, and if the joint probability value is simply adopted as the weight, the result is basically overlapped with the position fingerprint with the maximum joint probability value, so the invention proposes to adjust the weight to be the logarithm value of the joint probability, namely, to take omegajIs lgPj。(Xj,Yj) Is the maximum KpPosition information corresponding to jth position fingerprint in position fingerprints
Step four, according to the position to be positionedPosition of point (X)1,Y1) And (X)2,Y2) And calculating a to-be-positioned point.
Calculating KdVariance D of the nearest Euclidean distance1And KpVariance D of maximum joint probability logarithm value2The final positioning result can be expressed as equation (6).
Wherein,representing points to be locatedLocation.
The invention mainly makes the following improvements:
a pre-matching mechanism is provided, and candidate position fingerprints are selected from a huge position fingerprint database to shorten matching time.
Secondly, improvement is carried out on the basis of the traditional Euclidean distance, and consideration on WIFI signal fluctuation is increased.
And thirdly, reasonable mathematical processing is carried out on the joint probability value so as to adapt to weighted average processing of the positioning result.
And fourthly, mathematically fusing the positioning results in the two modes on the basis of the improvement so as to improve the precision of the positioning results.
Example (c):
the system for realizing the indoor positioning method based on the WIFI signal strength comprises the handheld terminal, the WIFI hotspot and the server.
The invention mainly aims to improve a positioning method based on scene analysis under the WIFI technology. The basic idea of the invention is: firstly, modeling a known indoor positioning environment, determining a plurality of sampling points according to a certain interval distance, and establishing an indoor structure distribution map of the sampling points to obtain the position information of the sampling points; acquiring WIFI signals according to the actual positions of the sampling points to obtain signal intensity information of the sampling points; forming a position fingerprint by adding the sampling point position information and the sampling point signal intensity information to obtain a position fingerprint database; secondly, obtaining candidate position fingerprints from a position fingerprint database by adopting a pre-matching method; then estimating the position of the position to be positioned by respectively adopting a deterministic matching method and a probabilistic matching method to obtain two groups of different intermediate positioning results; and finally fusing two groups of different intermediate positioning results to obtain a final positioning result. Compared with the traditional position fingerprint positioning method based on WIFI signal strength, the method improves the deterministic matching method and the probabilistic matching method, effectively overcomes the interference of WIFI signal fluctuation, improves the positioning accuracy of the two matching modes, and provides the fusion of the positioning results of the two matching modes, so that the accuracy of the final positioning result is further improved. The specific operation process of the example is as follows:
(one) construction of an indoor structure distribution diagram of a sampling point:
a plurality of WIFI hotspots are usually set in a common floor environment, the specific position of each WIFI hotspot does not need to be known, and some WIFI hotspots need to be added to an area with poor WIFI signal coverage in order to improve the positioning accuracy. The structure diagram of the floor is drawn and the division of the sampling points is determined, e.g. at 1m intervals, for the floor structure in fig. 1 there may be a grid division as in fig. 2.
(II) collecting the signal intensity information of the sampling points:
through the WIFI module in the handheld terminal, WIFI signal intensity information is collected on the spot at each sampling point in the floor. During collection, WIFI signal intensity information is collected at each sampling point for multiple times, and if 1s is used as collection frequency, the WIFI signal intensity information is uploaded to a server.
And (III) the position fingerprint database is composed of:
and (3) generating an item in a position fingerprint database by the sampling point division in the step (I) and the signal strength acquisition in the step (II). The table in the example lists only the necessary columns from which the actual system can be extended. The ID in the SP table indicates the identification of the sample point, and X, Y indicates the position coordinates of the sample point. The ID in the AP table indicates the identifier of the sampling point, the MAC indicates the physical address of the WIFI hotspot, AVG indicates the raw average of the signal strength, PAVG indicates the processed average of the signal strength, and DEV indicates the raw standard deviation of the signal strength, with reference to the ID column of the SP table (i.e., the before-ing key (ID) refer SP (ID)).
SP watch
| ID | X | Y |
| 1 | 1 | 1 |
| 2 | 1 | 2 |
| …… | …… | …… |
AP watch
| ID | MAC | AVG | PAVG | DEV |
| 1 | F4-EC-38-33-42-58 | -56 | -52 | 5 |
| 1 | EC-88-8F-A8-AA-60 | -71 | -72 | 2 |
| …… | …… | …… | …… | …… |
And (IV) acquiring the intensity information of the WIFI signal of the point to be positioned, and pre-matching the intensity information of the WIFI signal of the point to be positioned with a position fingerprint database to obtain a candidate position fingerprint.
Fifthly, adopting a deterministic matching method, selecting the weighted average value of the position information of the K position fingerprints closest to the improved Euclidean distance of the point to be positioned from the candidate position fingerprints as the position (X) of the point to be positioned1,Y1) (ii) a Using a probabilistic matching method, taking the weighted average of the position information of the K position fingerprints with the maximum joint probability with the point to be positioned as the position (X) of the point to be positioned in the candidate position fingerprints2,Y2)。
Sixthly, according to the position (X) of the point to be positioned1,Y1) And (X)2,Y2) Calculating a point to be locatedAnd returning the calculation result to the handheld client and displaying the calculation result.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. An indoor positioning method based on WIFI signal strength is characterized by comprising the following specific processes:
selecting a plurality of sampling points in an indoor environment, collecting intensity information of WIFI signals at the sampling points, and forming a position fingerprint by the intensity information and the position information of the sampling points to obtain a position fingerprint database;
secondly, collecting intensity information of a WIFI signal of a point to be positioned, and pre-matching the intensity information of the WIFI signal of the point to be positioned with a position fingerprint database to obtain a candidate position fingerprint;
step (ii) ofThirdly, selecting K closest to the improved Euclidean distance of the point to be positioned from the candidate position fingerprints by adopting a deterministic matching methoddThe weighted average of the position information of a position fingerprint is used as the position (X) of the point to be located1,Y1) (ii) a Adopting a probabilistic matching method to take K with the maximum joint probability with the point to be positioned in the candidate position fingerprintspThe weighted average of the position information of a position fingerprint is used as the position (X) of the point to be located2,Y2)；
Assuming that the locating point to be located can receive n WIFI hotspot signals, m candidate position fingerprints exist after pre-matching, the definition of the improved Euclidean distance is as formula (1),
wherein, i is 1,2, 1, m, k is 1,2, 1, n, diRepresenting the modified Euclidean distance between the to-be-located point and the ith candidate position fingerprint, DEV representing the original standard deviation of the signal strength of the to-be-located point, DEViRepresenting the raw standard deviation, PAVG, of the signal strength of the ith candidate location fingerprintkRepresenting the processing average value PAVG of the signal intensity of the kth WIFI hotspot received by the to-be-positioned pointikIndicates the ith waiting timeSelecting a processing average value of the signal intensity of the kth WIFI hotspot received by the position fingerprint;
step four, according to the position (X) of the point to be positioned1,Y1) And (X)2,Y2) And calculating a to-be-positioned point.
2. The WIFI signal strength based indoor positioning method of claim 1, wherein the joint probability is defined as shown in equation (3),
Pi＝Pi1·Pi2·...·Pik·...·Pin(3) wherein, PiRepresenting the joint probability, P, of a point to be located and the ith candidate location fingerprintikThe independent probability of the signal strength of the kth WIFI hotspot received by the ith candidate position fingerprint is represented, and the calculation method comprises the following steps:
for the normal distribution formula (4),
let mu be AVGik，σ＝DEVikWherein AVGikAnd DEVikRepresenting the ith candidate location fingerprintThe original mean and standard deviation of the signal strength of the kth WIFI hotspot are given by x ═ AVGi，AVGiRepresenting the original average value of the signal intensity of the point to be positioned, and calculating to obtain Pik。
3. The WIFI signal strength based indoor positioning method of claim 1, wherein the sampling point corresponds to a location fingerprint with a representation form AP ═ (ID, MAC, AVG, PAVG, DEV), where ID represents the identification of the sampling point, MAC represents the physical address of the WIFI hotspot, AVG represents the raw average of the signal strength, PAVG represents the processed average of the signal strength, and DEV represents the raw standard deviation of the signal strength.
4. The WIFI signal strength based indoor positioning method of claim 3, wherein the pre-matching is: firstly, finding out MAC (media access control) in a to-be-positioned point under the condition that PAVG > FLAG, wherein FLAG is a preset signal intensity threshold value; then, in the location fingerprint library, the location fingerprint containing the found MAC is selected and used as a candidate location fingerprint.
5. The WIFI signal strength based indoor positioning method according to claim 1, wherein the specific process of the fourth step is:
first, K is calculateddVariance D of the nearest Euclidean distance1And KpVariance D of maximum joint probability logarithm value2；
Then, a final positioning result is calculated
6. WIFI signal strength based indoor positioning method according to claim 1, wherein the location (X) is1,Y1) The calculation formula of (2);
wherein, ω isiIs the smallest KdWeight, ω, corresponding to the ith position fingerprint among the position fingerprintsi＝1/di，(Xi,Yi) Is KdThe position information corresponding to the ith position fingerprint.
7. WIFI signal strength based indoor positioning method according to claim 1, wherein the location (X) is2,Y2) The calculation formula of (4) is shown in formula (5);
wherein, ω isjIs the maximum KpWeight, ω, corresponding to jth position fingerprint among the position fingerprintsj＝lg Pj，(Xj,Yj) Is the maximum KpAnd the j-th position fingerprint in the position fingerprints corresponds to the position information.
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| CN105376855B (en) * | 2015-09-09 | 2018-10-26 | 华南师范大学 | The indoor orientation method and system of adaptive judgement barrier based on wireless technology |
| CN105376855A (en) * | 2015-09-09 | 2016-03-02 | 华南师范大学 | Indoor positioning method and system for adaptive obstacle judgment based on wireless technology |
| CN105444755A (en) * | 2015-11-13 | 2016-03-30 | 深圳市译元成科技有限公司 | Indoor positioning method based on space clutter signal |
| CN106888504B (en) * | 2015-12-11 | 2023-07-14 | 南开大学 | Indoor position fingerprint positioning method based on FM and DTMB signals |
| CN106888504A (en) * | 2015-12-11 | 2017-06-23 | 南开大学 | Indoor location fingerprint positioning method based on FM Yu DTMB signals |
| CN105516931A (en) * | 2016-02-29 | 2016-04-20 | 重庆邮电大学 | Indoor differential positioning method on basis of double-frequency WLAN (wireless local area network) access points |
| CN105868702A (en) * | 2016-03-25 | 2016-08-17 | 上海烟草集团有限责任公司 | WIFI positioning fingerprint collection device and method |
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| CN106028447A (en) * | 2016-07-12 | 2016-10-12 | 三维通信股份有限公司 | Indoor floor location method based on air pressure fingerprint |
| CN106028447B (en) * | 2016-07-12 | 2020-02-25 | 三维通信股份有限公司 | Indoor floor positioning method based on air pressure fingerprints |
| CN106454711A (en) * | 2016-11-08 | 2017-02-22 | 北京创想智控科技有限公司 | Indoor robot positioning method and device |
| CN106358293A (en) * | 2016-11-08 | 2017-01-25 | 北京创想智控科技有限公司 | Indoor robot positioning method and device |
| CN106341887A (en) * | 2016-11-08 | 2017-01-18 | 北京创想智控科技有限公司 | Positioning method and device of indoor robot |
| CN106792511A (en) * | 2016-11-28 | 2017-05-31 | 广东宜通世纪科技股份有限公司 | Wifi finger print datas acquisition methods and system based on mobile communication signal collecting |
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| CN106793085A (en) * | 2017-03-08 | 2017-05-31 | 南京信息工程大学 | Fingerprint positioning method based on normality assumption inspection |
| CN107833481A (en) * | 2017-09-27 | 2018-03-23 | 杭州分数科技有限公司 | Car searching method, device and vehicle location searching system |
| CN107979818A (en) * | 2017-11-28 | 2018-05-01 | 元力云网络有限公司 | A kind of processing method of wireless fingerprint storehouse primary data |
| CN107979818B (en) * | 2017-11-28 | 2020-06-02 | 元力云网络有限公司 | Method for processing initial data of wireless fingerprint database |
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| CN109239659B (en) * | 2018-08-31 | 2023-12-15 | 平安科技（深圳）有限公司 | Indoor navigation method, device, computer equipment and storage medium |
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| CN109672978B (en) * | 2019-01-30 | 2020-09-25 | 腾讯大地通途（北京）科技有限公司 | Wireless hotspot scanning frequency control method and device |
| CN110166930A (en) * | 2019-04-03 | 2019-08-23 | 华中科技大学 | A kind of indoor orientation method and system based on WiFi signal |
| CN109738863A (en) * | 2019-04-08 | 2019-05-10 | 江西师范大学 | A kind of WiFi fingerprint indoor positioning algorithms and system merging confidence level |
| CN112533144A (en) * | 2019-09-19 | 2021-03-19 | 中国移动通信集团辽宁有限公司 | Indoor positioning method and device, computing equipment and computer storage medium |
| CN110856255B (en) * | 2019-11-25 | 2021-01-19 | 北京眸星科技有限公司 | Anti-difference position fingerprint positioning method |
| CN110856255A (en) * | 2019-11-25 | 2020-02-28 | 北京眸星科技有限公司 | Anti-difference position fingerprint positioning method |
| CN111198365A (en) * | 2020-01-16 | 2020-05-26 | 东方红卫星移动通信有限公司 | Indoor positioning method based on radio frequency signal |
| CN112188614A (en) * | 2020-09-14 | 2021-01-05 | 山东亚华电子股份有限公司 | Indoor positioning method and equipment |
| CN112866905A (en) * | 2021-02-08 | 2021-05-28 | 惠州Tcl移动通信有限公司 | Indoor positioning method, terminal and computer readable storage medium |
| CN113534117A (en) * | 2021-06-11 | 2021-10-22 | 广州杰赛科技股份有限公司 | Indoor positioning method |
| CN113534117B (en) * | 2021-06-11 | 2024-06-04 | 广州杰赛科技股份有限公司 | Indoor positioning method |
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